Mass reformat
No code changes other than what clang-format mandates. This is breaking
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Imbus
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38 changed files with 7094 additions and 6574 deletions
106
grbl/planner.h
106
grbl/planner.h
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@ -22,83 +22,80 @@
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#ifndef planner_h
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#define planner_h
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// The number of linear motions that can be in the plan at any give time
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#ifndef BLOCK_BUFFER_SIZE
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#ifdef USE_LINE_NUMBERS
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#define BLOCK_BUFFER_SIZE 15
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#else
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#define BLOCK_BUFFER_SIZE 16
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#endif
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#ifdef USE_LINE_NUMBERS
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#define BLOCK_BUFFER_SIZE 15
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#else
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#define BLOCK_BUFFER_SIZE 16
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#endif
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#endif
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// Returned status message from planner.
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#define PLAN_OK true
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#define PLAN_OK true
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#define PLAN_EMPTY_BLOCK false
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// Define planner data condition flags. Used to denote running conditions of a block.
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#define PL_COND_FLAG_RAPID_MOTION bit(0)
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#define PL_COND_FLAG_SYSTEM_MOTION bit(1) // Single motion. Circumvents planner state. Used by home/park.
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#define PL_COND_FLAG_NO_FEED_OVERRIDE bit(2) // Motion does not honor feed override.
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#define PL_COND_FLAG_INVERSE_TIME bit(3) // Interprets feed rate value as inverse time when set.
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#define PL_COND_FLAG_SPINDLE_CW bit(4)
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#define PL_COND_FLAG_SPINDLE_CCW bit(5)
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#define PL_COND_FLAG_COOLANT_FLOOD bit(6)
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#define PL_COND_FLAG_COOLANT_MIST bit(7)
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#define PL_COND_MOTION_MASK (PL_COND_FLAG_RAPID_MOTION|PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE)
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#define PL_COND_SPINDLE_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW)
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#define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)
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#define PL_COND_FLAG_RAPID_MOTION bit(0)
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#define PL_COND_FLAG_SYSTEM_MOTION bit(1) // Single motion. Circumvents planner state. Used by home/park.
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#define PL_COND_FLAG_NO_FEED_OVERRIDE bit(2) // Motion does not honor feed override.
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#define PL_COND_FLAG_INVERSE_TIME bit(3) // Interprets feed rate value as inverse time when set.
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#define PL_COND_FLAG_SPINDLE_CW bit(4)
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#define PL_COND_FLAG_SPINDLE_CCW bit(5)
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#define PL_COND_FLAG_COOLANT_FLOOD bit(6)
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#define PL_COND_FLAG_COOLANT_MIST bit(7)
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#define PL_COND_MOTION_MASK (PL_COND_FLAG_RAPID_MOTION | PL_COND_FLAG_SYSTEM_MOTION | PL_COND_FLAG_NO_FEED_OVERRIDE)
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#define PL_COND_SPINDLE_MASK (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)
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#define PL_COND_ACCESSORY_MASK \
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(PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW | PL_COND_FLAG_COOLANT_FLOOD | PL_COND_FLAG_COOLANT_MIST)
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// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
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// are as specified in the source g-code.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
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uint32_t steps[N_AXIS]; // Step count along each axis
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uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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// Fields used by the bresenham algorithm for tracing the line
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// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
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uint32_t steps[N_AXIS]; // Step count along each axis
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uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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// Block condition data to ensure correct execution depending on states and overrides.
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uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data.
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#ifdef USE_LINE_NUMBERS
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int32_t line_number; // Block line number for real-time reporting. Copied from pl_line_data.
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#endif
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// Block condition data to ensure correct execution depending on states and overrides.
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uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data.
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#ifdef USE_LINE_NUMBERS
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int32_t line_number; // Block line number for real-time reporting. Copied from pl_line_data.
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#endif
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// Fields used by the motion planner to manage acceleration. Some of these values may be updated
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// by the stepper module during execution of special motion cases for replanning purposes.
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float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2
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float max_entry_speed_sqr; // Maximum allowable entry speed based on the minimum of junction limit and
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// neighboring nominal speeds with overrides in (mm/min)^2
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float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2). Does not change.
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float millimeters; // The remaining distance for this block to be executed in (mm).
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// NOTE: This value may be altered by stepper algorithm during execution.
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// Fields used by the motion planner to manage acceleration. Some of these values may be updated
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// by the stepper module during execution of special motion cases for replanning purposes.
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float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2
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float max_entry_speed_sqr; // Maximum allowable entry speed based on the minimum of junction limit and
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// neighboring nominal speeds with overrides in (mm/min)^2
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float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2). Does not change.
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float millimeters; // The remaining distance for this block to be executed in (mm).
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// NOTE: This value may be altered by stepper algorithm during execution.
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// Stored rate limiting data used by planner when changes occur.
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float max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2
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float rapid_rate; // Axis-limit adjusted maximum rate for this block direction in (mm/min)
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float programmed_rate; // Programmed rate of this block (mm/min).
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// Stored rate limiting data used by planner when changes occur.
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float max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2
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float rapid_rate; // Axis-limit adjusted maximum rate for this block direction in (mm/min)
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float programmed_rate; // Programmed rate of this block (mm/min).
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#ifdef VARIABLE_SPINDLE
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// Stored spindle speed data used by spindle overrides and resuming methods.
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float spindle_speed; // Block spindle speed. Copied from pl_line_data.
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#endif
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#ifdef VARIABLE_SPINDLE
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// Stored spindle speed data used by spindle overrides and resuming methods.
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float spindle_speed; // Block spindle speed. Copied from pl_line_data.
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#endif
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} plan_block_t;
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// Planner data prototype. Must be used when passing new motions to the planner.
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typedef struct {
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float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
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float spindle_speed; // Desired spindle speed through line motion.
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uint8_t condition; // Bitflag variable to indicate planner conditions. See defines above.
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#ifdef USE_LINE_NUMBERS
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int32_t line_number; // Desired line number to report when executing.
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#endif
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float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
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float spindle_speed; // Desired spindle speed through line motion.
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uint8_t condition; // Bitflag variable to indicate planner conditions. See defines above.
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#ifdef USE_LINE_NUMBERS
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int32_t line_number; // Desired line number to report when executing.
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#endif
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} plan_line_data_t;
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// Initialize and reset the motion plan subsystem
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void plan_reset(); // Reset all
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void plan_reset(); // Reset all
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void plan_reset_buffer(); // Reset buffer only.
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// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
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@ -146,5 +143,4 @@ uint8_t plan_check_full_buffer();
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void plan_get_planner_mpos(float *target);
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#endif
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